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The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…
Accurate 3D tracking of hand and fingers movements poses significant challenges in computer vision. The potential applications span across multiple domains, including human-computer interaction, virtual reality, industry, and medicine.…
Grasping and manipulating objects is an important human skill. Since hand-object contact is fundamental to grasping, capturing it can lead to important insights. However, observing contact through external sensors is challenging because of…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
We present advancements in the design and development of in-vehicle infotainment systems that utilize gesture input and ultrasonic mid-air haptic feedback. Such systems employ state-of-the-art hand tracking technology and novel haptic…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
Robotic capacities in object manipulation are incomparable to those of humans. Besides years of learning, humans rely heavily on the richness of information from physical interaction with the environment. In particular, tactile sensing is…
Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…
Our paper presents a robust framework for UWB-based static gesture recognition, leveraging proprietary UWB radar sensor technology. Extensive data collection efforts were undertaken to compile datasets containing five commonly used…
Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…
The ability to predict the object the user intends to grasp offers essential contextual information and may help to leverage the effects of point-to-point latency in interactive environments. This paper explores the feasibility and accuracy…
Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…
Whole-body movements enhance the presence and enjoyment of Virtual Reality (VR) experiences. However, using large gestures is often uncomfortable and impossible in confined spaces (e.g., public transport). We introduce FingerMapper, mapping…
In this work, we present a reconfigurable data glove design to capture different modes of human hand-object interactions, which are critical in training embodied artificial intelligence (AI) agents for fine manipulation tasks. To achieve…
The ability to associate touch with sight is essential for tasks that require physically interacting with objects in the world. We propose a dataset with paired visual and tactile data called Touch and Go, in which human data collectors…
Touch sensing, as a major human/machine interface, is widely used in various commercial products such as smart watches, mobile phones, tablets and TVs. State-of-the-art touch detections are mainly based on mutual capacitive sensing, which…
In recent years, with the continuous advancement of deep learning and the emergence of large-scale human motion datasets, human motion prediction technology has gradually gained prominence in various fields such as human-computer…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
We revisit the study of a wrist-mounted camera system (referred to as HandCam) for recognizing activities of hands. HandCam has two unique properties as compared to egocentric systems (referred to as HeadCam): (1) it avoids the need to…
Gesture recognition application over 802.11 ad/y waveforms is developed. Simultaneous gestures of slider-control and two-finger gesture for switching are detected based on Golay sequences of channel estimation fields of the packets.